## 摘要

This paper presents the application of symbolic representation method to the formulation of displacement equations for robot manipulators with completely general geometry. Symbolic representation method with its precise graphical meaning makes it possible to avoid cumbersome matrix multiplication operations, and easy to derive closed-form solutions for the joint displacement of robot manipulations systematically. In this new method, those operations for the zero value of multiplication of matrix is omitted, thus the amount of operations can be greatly reduced. We can also avoid the cumbersome operation process of matrices, so that both the formulation time and the possibilities of error can be reduced in deriving the closed form solution. It is also found that a great advantage by applying computer aided graphic method to generate Piogram symbolic operation form is possible. It is hoped that the method presented in this study will provide a meaningful alternative to the existing method for formulating the inverse kinematics problem of robot manipulators.

原文 | English |
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頁（從 - 到） | 61-72 |

頁數 | 12 |

期刊 | Mechanism and Machine Theory |

卷 | 24 |

發行號 | 1 |

DOIs | |

出版狀態 | Published - 1 一月 1989 |